CN107894183A - Plant condenser condenser pipe on-line cleaning robot based on flush type - Google Patents
Plant condenser condenser pipe on-line cleaning robot based on flush type Download PDFInfo
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- CN107894183A CN107894183A CN201711118495.8A CN201711118495A CN107894183A CN 107894183 A CN107894183 A CN 107894183A CN 201711118495 A CN201711118495 A CN 201711118495A CN 107894183 A CN107894183 A CN 107894183A
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- Prior art keywords
- condenser
- frame
- blast tube
- condenser pipe
- drive mechanism
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F28—HEAT EXCHANGE IN GENERAL
- F28G—CLEANING OF INTERNAL OR EXTERNAL SURFACES OF HEAT-EXCHANGE OR HEAT-TRANSFER CONDUITS, e.g. WATER TUBES OR BOILERS
- F28G9/00—Cleaning by flushing or washing, e.g. with chemical solvents
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Cleaning By Liquid Or Steam (AREA)
Abstract
The invention belongs to industry cleaning link technical field, the plant condenser condenser pipe on-line cleaning robot of flush type is based especially on.Described robot, including frame, frame are arranged in the hydroecium of condenser；In frame it is symmetrical above and below it is horizontally disposed have guiding mechanism, its middle part be horizontally installed with lead-screw drive mechanism；Shell outside is provided with the drive mechanism being connected with lead-screw drive mechanism input；Blast tube stage casing is movably arranged on the lead-screw drive mechanism in frame vertically, and its upper-lower section is movably arranged on guiding mechanism；Some nozzles, nozzle location and the centering one by one of condenser pipe nozzle position are provided with blast tube；Water inlet end is provided with blast tube, the water inlet end is by lower swivel with rotating mechanical arm mobile communication；Mechanical arm is rotated to be flexibly connected with the water inlet pipe through frame top by upper swivel joint.The present invention is simple in construction, stable, and cleaning efficiency is high；In power plant's condensing hydroecium, the real-time online cleaning of rinse condenser pipe inwall is realized.
Description
Technical field
The invention belongs to industry cleaning link technical field, the plant condenser condenser pipe on-line cleaning of flush type is based especially on
Robot.
Background technology
Condenser is one of key equipments of industry such as electric power, chemical industry, food, pharmacy, it risen in steam turbine cooling and
The effect of buffering, steam turbine exhaust pressure and exhaust temperature can be reduced, improve the thermal efficiency of cycle of generating set.Large-scale condensing
Device is made up of ten hundreds of condenser pipes, if the cooling water for flowing through condenser pipe is unholiness, it occur frequently that chemical reaction during heat exchange,
Condenser collect dirt is caused, or even is blocked.Dirt deteriorates condenser heat transfer property, under causing steam turbine vacuum degree rapidly
Drop, generating efficiency is drastically reduced, the consumption of Power Plant Fuel is continuously increased.The presence of dirt will also cause to condense wall erosion,
Perforation, hot-spot and appearance is even caused the security incident such as to burst.
At present, the cleaning way of condenser is broadly divided into two categories below：On-line cleaning, offline cleaning.Wherein, it is traditional
Line cleaning way includes：Rubber ball cleaning and Chemical cleaning, rubber ball cleaning exist ball collecting rate it is low, easily there was a mechanical failure, cleaning
Not thoroughly, still need to periodically be cleaned；Chemical cleaning is long-term use of, can corrode condenser copper tube, condenser pipe is caused to damage, and drops
Low condenser service life, environmental pollution is caused, and can not thoroughly taken out stains.Traditional offline cleaning way includes two again
Major class：Artificial mechanism cleaning, high pressure water cleaning；Although offline mode has the advantages of many, still, manually clean labor intensity
Height, and scavenging period is restricted, and can only be cleaned in compressor emergency shutdown or overhaul, clean unavoidable stop cleaning offline
The fact, larger economic loss can be brought, and be unable to caused incrustation in timely processing operation, generating set can not be ensured
Effec-tive Function.
And the on-line cleaning mode such as traditional rubber ball cleaning and Chemical cleaning, and existing offline cleaning way, also because
Its each the defects of can not be promoted the use of in time, the present invention on the basis of mode in summary, propose based on embedment
The plant condenser condenser pipe on-line cleaning robot of formula, the machine can solve the problem that the following technical barrier of mode described above：
1st, existing cleaning, is conveyed with water under high pressure, mainly using high-pressure hose.Under hydroecium complex environment, high-pressure hose
Easily disturb, winding problem occurs when wiper mechanism moves；And use high-pressure hose, it is also necessary to fill equipped with coil pipe
Put, to control the contraction of high-pressure hose, so considerably increase the complexity of cleaning machine.
2nd, nozzle used in existing cleaning is mostly low using single injector, cleaning efficiency.
3rd, the lead-screw drive mechanism that existing wiper mechanism uses, bears larger radial load there is leading screw mostly；
Long-play, it can make leading screw that larger radial deformation occur.So it is impossible to ensure that the positioning precision of turn-screw.
The content of the invention
The technical problem to be solved by the invention is to provide the plant condenser condenser pipe on-line cleaning machine based on flush type
Device people, the robot using installation the multiinjector with the centering one by one of the condenser pipe mouth of pipe, to realize the cleaning to rinse condenser pipe inwall
Operation；By the anti-winding swivel joint of the machine, to be actively coupled the water pipe at both ends, realize that water pipe is freely rotated and normally supplied
Water function；The lead-screw drive mechanism of use, bear to load by upper and lower two parallel guide rails completely, and play the guiding role.
In order to solve the above-mentioned technical problem, the technical proposal of the invention is realized in this way：
Plant condenser condenser pipe on-line cleaning robot based on flush type, described robot include frame, and frame is set
In the hydroecium of condenser；
In frame it is symmetrical above and below it is horizontally disposed have guiding mechanism, its middle part be horizontally installed with lead-screw drive mechanism；
Shell outside is provided with the drive mechanism being connected with lead-screw drive mechanism input；
Blast tube stage casing is movably arranged on the lead-screw drive mechanism in frame vertically, and its upper-lower section is movably arranged on guiding mechanism
On；
Some nozzles, nozzle location and the centering one by one of condenser pipe nozzle position are provided with blast tube；
Water inlet end is provided with blast tube, the water inlet end is by lower swivel with rotating mechanical arm mobile communication；Rotate machinery
Arm is flexibly connected by upper swivel joint with the water inlet pipe through frame top.
Further illustrate, described frame is square bearer shape.
Further illustrate, described guiding mechanism includes spandrel girder, and spandrel girder both ends are fixed on frame by adpting flange
Both sides on the inside of；On spandrel girder, along on its length direction, rolling guide is installed, rolling guide is connected with spandrel girder with bolt
Connect.
Further illustrate, described lead-screw drive mechanism includes ball-screw, and ball-screw both ends are lived by bearing arrangement
The dynamic both sides for being arranged on frame.
Further illustrate, described drive mechanism, including motor, the input of the output shaft and decelerator of motor
Axle is connected by flange bolt；The output shaft of decelerator is connected with shaft coupling one end, and the shaft coupling other end inputs with ball-screw
End is connected.
Further illustrate, described blast tube is sectional formula structure, and is connected by flange bolt.
Further illustrate, described blast tube upper-lower section, be bolted respectively, and be provided with connecting plate；Connecting
On plate, sliding block is connected with, sliding block level is slidably arranged on rolling guide；Blast tube stage casing is provided through ball wire
Thick stick；By ball-screw and the nut being arranged on blast tube stage casing, realize that worm drive connect；Nut by flange bolt,
Installed in the both sides in blast tube stage casing.
Further illustrate, described water inlet end is arranged on blast tube stage casing, and the water inlet end is by lower swivel with rotating
Mechanical arm mobile communication, the rotation mechanical arm include rotating gadget arm and rotate big mechanical arm；Between rotating size mechanical arm,
Connected by middle swivel joint；Mechanical arm is rotated to be flexibly connected with the water inlet pipe through frame top by upper swivel joint.
Further illustrate, described lower swivel and upper, middle rotary joint structure are consistent, and as anti-winding rotation connects
Head, the swivel joint include housing, inlet segment and water exit end；
Housing is fixedly connected with inlet segment, and low order end is provided with thrust bearing in housing, the axial direction applied for bearing inlet segment
Load；
High-wearing feature, erosion-resisting V-shaped seal ring are provided between the dynamic contact surface of water exit end and housing low order end, realizes dynamic sealing；
In order that water exit end can flexibly and it is stable be rotated in housing, provided with a pair of deep groove ball bearings, can make water exit end relative to
Housing realizes that 360 ° rotate freely, and, to realizing axially position by sleeve between bearing, left end deep groove ball bearing is realized by end cap for this
Axially position, pad is provided between end cap and housing and is used to adjust gap, the rotating contact face between water exit end and end cap is by close
Seal and back-up ring realize sealing and gap adjustment.
The present invention compared with prior art, it is advantageous that：The present invention is simple in construction, stable, and cleaning efficiency is high, no
The labor intensity of worker is only alleviated, and reduces production cost, improves cleaning efficiency, realizes plant condenser condensation
The real-time online cleaning of inside pipe wall.Specifically：
（1）The present invention utilizes anti-winding swivel joint.Joint one end water pipe opposite other end water pipe, rotatable connection is realized, is kept away
Water pipe disturbance and the winding problem come using conventional high-tension flexible pipe connect band are exempted from, have saved and used coil device, optimize cleaning machine
Structure.
（2）The present invention utilizes double guide tracked guiding mechanism arrangement forms, improves the stability of turn-screw, turn-screw
Suffered radial load is smaller, is unlikely to deform, and frictional resistance is small, and bearing capacity is strong, ensure that the positioning precision of turn-screw.
（3）The present invention is arranged using high pressure multiinjector, constitutes the pattern of nozzle row, improves cleaning effect
Rate.
Brief description of the drawings
Fig. 1 is the main structure diagram of the present invention.
Fig. 2 is the left view structural representation of the present invention.
Fig. 3 is the structural representation of moderate resistance winding swivel joint of the present invention.
Fig. 4 is the signal of the plant condenser condenser pipe on-line cleaning robot mounting location based on flush type of the present invention
Figure.
Fig. 5 is can to set multi-jet structural representation on a blast tube.
In Fig. 1 and Fig. 2：1 is blast tube hypomere；2 be adpting flange；3 be spandrel girder；4 be shaft coupling；5 be decelerator；6
For motor；7 be frame；8 be sliding block；9 be connecting plate；10 be condenser pipe；11 be nozzle；12 be rolling guide；13 be spray
Mouth pipe epimere；14 be blast tube stage casing；15 be ball-screw；16 be nut；17 be anti-winding swivel joint；18 be the small machine of rotation
Tool arm；19 be the big mechanical arm of rotation；20 be water inlet pipe.
In Fig. 3：17-1 is inlet segment flange；17-2 is inlet segment；17-3 is V-shaped seal ring；17-4 is thrust bearing；
17-5 is deep groove ball bearing；17-6 is sleeve；17-7 is end cap；17-8 is water exit end flange；17-9 is water exit end；17-10 is
Sealing ring；17-11 is back-up ring；17-12 is pad；17-13 is housing.
Embodiment
Below in conjunction with accompanying drawing 1 to Fig. 5, and embodiment, the present invention is made and further described.
As shown in figure 4, the plant condenser condenser pipe on-line cleaning robot of the invention based on flush type, installed in right water
It is indoor.The cylinder of the lp steam turbine of condenser shell and top is connected as a single entity, the steam flowed into from top low-pressure turbine
Salt-free water from high-purity, to avoid waste, it is necessary to be cooled to condensate by condenser, it is sent to boiler recycling.
In condenser, pass through and arrange intensive condenser pipe, water inlet hydroecium connects with the right-hand member restrained, delivery port
Hydroecium connects with left end.Cooling water flows into from right-hand member water inlet hydroecium, is restrained into condenser pipe, after being come out from tube bank, from a left side
Bring out mouth of a river hydroecium outflow.The steam discharged by low-pressure turbine, the condensing zone formed into tube bank, condenses into water；Condensate
The hot well of lower section is flowed to, then by condensing water out, into water circulation system.
As depicted in figs. 1 and 2, the plant condenser condenser pipe on-line cleaning robot based on flush type, described machine
People includes frame 7；Frame 7 is square bearer shape, and frame 7 is arranged in the right hydroecium of condenser.
It is horizontally disposed to have guiding mechanism in frame 7.Described guiding mechanism, including spandrel girder 3, the both ends of spandrel girder 3 lead to
Cross two inner sides that adpting flange 2 is fixed on frame 7；Along on its length direction on spandrel girder 3, rolling guide 12 is installed, rolled
Dynamic guide rail 12 is bolted with spandrel girder 3；Its middle part level, which runs through, lead-screw drive mechanism.Described lead screw transmission machine
Structure, including ball-screw 15, the both ends of ball-screw 15, the both sides of frame 7 are movably arranged on by bearing arrangement.
The outside of frame 7 is provided with, the drive mechanism being connected with lead-screw drive mechanism input；The drive mechanism includes driving
Motor 6, the output shaft of motor 6 are connected with the input shaft of decelerator 5 by flange bolt；The output shaft and connection of decelerator 5
The one end of axle device 4 is connected, and the other end of shaft coupling 4 is connected with ball-screw one end.
Blast tube epimere 13, stage casing 14 and hypomere 1 are sectional formula structure, and are connected by flange bolt；Blast tube
Stage casing 14 is movably arranged on the lead-screw drive mechanism in frame 7 vertically；Its epimere 13 and hypomere 1 are movably arranged on guiding respectively
In mechanism；Described blast tube epimere 13 and hypomere 1 is bolted respectively with connecting plate 9；Connect on connecting plate 9 with bolt
Sliding block 8 is connected to, the level of sliding block 8 is slidably arranged on rolling guide 12；Blast tube stage casing 14 is provided through ball-screw, ball
Leading screw realizes that worm drive are connected with the nut 16 being arranged on blast tube stage casing 14；Nut 16 is arranged on by flange bolt
The both sides in blast tube stage casing 14.
Some nozzles 11, the position of nozzle 11 and the centering one by one of condenser pipe nozzle position are provided with blast tube.
Water inlet end is provided with blast tube stage casing 14, the water inlet end is by lower swivel with rotating mechanical arm activity even
It is logical；Mechanical arm is rotated to be flexibly connected with the water inlet pipe 20 through the top of frame 7 by upper swivel joint；The water inlet end passes through backspin
Adapter is with rotating mechanical arm mobile communication；The rotation mechanical arm includes rotating gadget arm 18 and rotates big mechanical arm 19；Turn
Connected between dynamic size mechanical arm 18,19 by middle swivel joint.
As shown in figure 3, lower swivel and upper, middle rotary joint structure are consistent, and as anti-winding swivel joint 17, rotation
Adapter 17 includes housing 17-13, inlet segment 17-2, water exit end 17-9.
Housing 17-13 is fixedly connected with inlet segment 17-2, and low order end is provided with thrust bearing 17-4 in housing 17-13, is used for
Bear the axial load that inlet segment 17-2 is applied.
High-wearing feature, erosion-resisting V-shaped seal ring are provided between the dynamic contact surface of water exit end 17-9 and housing 17-13 low order ends
17-3, realize dynamic sealing；In order that water exit end 17-9 flexibly, can be rotated stably in housing 17-13, provided with a pair of zanjons
Ball bearing 17-5, water exit end 17-9 can be made to realize that 360 ° rotate freely relative to housing 17-13；This is to leaning on sleeve between bearing
17-6 realizes axially position, and left end deep groove ball bearing realizes axially position by end cap 17-7, between end cap 17-7 and housing 17-13
Be used to adjust gap provided with pad 17-12, the rotating contact face between water exit end 17-9 and end cap 17-7 by sealing ring 17-10 and
Back-up ring 17-11 realizes sealing and gap adjustment.
Inlet segment flange 17-1 is arranged on inlet segment 17-2 heads；Inlet segment 17-2 heads are successively with rotating gadget arm 18
Water side, the water side, water inlet pipe 20 that rotate big mechanical arm 19 water side connection.Water exit end flange 17-8 is arranged on water outlet
Section 17-9 heads；Water exit end 17-9 heads successively the water intake end with blast tube stage casing 14, rotate the water intake end of gadget arm 18, turn
Move the water intake end connection of big mechanical arm 19；High-pressure water outside the water intake end connection of water inlet pipe 20.
The operation principle of the present invention：
The operation principle of plant condenser condenser pipe on-line cleaning robot based on flush type is：The cleaning robot receives behaviour
Author orders, and controls servo-actuating device；Ball-screw transmission mechanism in cleaning machine, is driven by servomotor, and is driven
Multiinjector, in the vertical plane parallel to tube sheet at the uniform velocity or fixed point motion；Multiinjector mechanism is protected in the presence of guiding mechanism
Hold stabilized walking；Water system is constantly conveyed water under high pressure by rotating water pipe and anti-winding swivel joint on mechanical arm
Into multi-jet wiper mechanism；Water under high pressure after pressurized, sprayed from nozzle in the form of high-speed water jet, water under high pressure wink
Between with the dirt in huge impulsive force impact condenser condenser pipe and other attachments, complete plant condenser rinse condenser pipe inwall
Cleaning task.
Embodiment described above, only to the description of the preferred embodiment of the present invention.Set not departing from the present invention
On the premise of meter spirit, various modifications and improvement that those skilled in the art make to technical scheme, it all should belong to
The protection domain that claims of the present invention determines.
Claims (9)
1. the plant condenser condenser pipe on-line cleaning robot based on flush type, described robot include frame, frame is set
Put in the hydroecium of condenser；It is characterized in that：In described frame it is symmetrical above and below it is horizontally disposed have guiding mechanism, its middle part water
Safety is equipped with lead-screw drive mechanism；
Shell outside is provided with the drive mechanism being connected with lead-screw drive mechanism input；
Blast tube stage casing is vertically installed on the lead-screw drive mechanism in frame, and its upper-lower section is arranged on guiding mechanism；
Some nozzles, nozzle location and the centering one by one of condenser pipe nozzle position are provided with blast tube；
Water inlet end is provided with blast tube, the water inlet end is connected by lower swivel with rotating mechanical arm；Mechanical arm is rotated to lead to
Swivel joint is crossed to be connected with the water inlet pipe through frame top.
2. the plant condenser condenser pipe on-line cleaning robot according to claim 1 based on flush type, its feature exist
In：Described frame is square bearer shape.
3. the plant condenser condenser pipe on-line cleaning robot according to claim 1 based on flush type, its feature exist
In：Described guiding mechanism includes spandrel girder, and spandrel girder both ends are fixed on by adpting flange on the inside of the two of frame, on spandrel girder
Rolling guide is installed along on its length direction, is connected between rolling guide and spandrel girder.
4. the plant condenser condenser pipe on-line cleaning robot according to claim 1 based on flush type, its feature exist
In：Described lead-screw drive mechanism includes ball-screw, and ball-screw both ends are movably arranged on the two of frame by bearing arrangement
Side.
5. the plant condenser condenser pipe on-line cleaning robot according to claim 1 based on flush type, its feature exist
In：Described drive mechanism includes motor, and the output shaft of motor and the input shaft of decelerator are connected by flange bolt
Connect, the output shaft of decelerator is connected with shaft coupling one end, and the shaft coupling other end is connected with ball-screw one end.
6. the plant condenser condenser pipe on-line cleaning robot according to claim 1 based on flush type, its feature exist
In：Described blast tube upper, middle and lower section is sectional formula structure, and is connected by flange bolt.
7. the plant condenser condenser pipe on-line cleaning robot based on flush type according to claim 1 or 6, its feature
It is：Described blast tube upper-lower section is bolted respectively is provided with connecting plate, and bolt connection has sliding block on connecting plate, sliding
Block level is slidably arranged on rolling guide；Blast tube stage casing is provided through ball-screw, and ball-screw is with being arranged on nozzle
Nut screw drive connection on pipe stage casing, nut are arranged on the both sides in blast tube stage casing by flange bolt.
8. the plant condenser condenser pipe on-line cleaning robot according to claim 1 based on flush type, its feature exist
In：Described water inlet end is arranged on blast tube stage casing, and the water inlet end, with rotating mechanical arm mobile communication, is somebody's turn to do by lower swivel
Rotation mechanical arm includes rotating gadget arm and rotates big mechanical arm, is connected between rotation size mechanical arm by middle swivel joint
Connect, rotate mechanical arm and be flexibly connected by upper swivel joint with the water inlet pipe through frame top.
9. the plant condenser condenser pipe on-line cleaning robot based on flush type according to claim 1 or 8, its feature
It is：Described lower swivel and upper, middle rotary joint structure are consistent, as swivel joint, swivel joint include housing,
Inlet segment and water exit end；
Housing is fixedly connected with inlet segment, and low order end is provided with thrust bearing in housing, the axial direction applied for bearing inlet segment
Load；
High-wearing feature, erosion-resisting V-shaped seal ring are provided between the dynamic contact surface of water exit end and housing low order end, realizes dynamic sealing,
In order that water exit end can flexibly, it is stable be rotated in housing, be provided with a pair of deep groove ball bearings, can make water exit end relative to
Housing realizes that 360 ° rotate freely motion, and this by sleeve between bearing to realizing axially position, and left end deep groove ball bearing is by end cap
Axially position is realized, pad is provided between end cap and housing and is used to adjust gap, the rotating contact face between water exit end and end cap
Sealing and gap adjustment are realized by sealing ring and back-up ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711118495.8A CN107894183B (en) | 2017-11-14 | 2017-11-14 | Plant condenser condenser pipe on-line cleaning robot based on flush type |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711118495.8A CN107894183B (en) | 2017-11-14 | 2017-11-14 | Plant condenser condenser pipe on-line cleaning robot based on flush type |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107894183A true CN107894183A (en) | 2018-04-10 |
| CN107894183B CN107894183B (en) | 2019-06-04 |
Family
ID=61805237
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711118495.8A Active CN107894183B (en) | 2017-11-14 | 2017-11-14 | Plant condenser condenser pipe on-line cleaning robot based on flush type |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107894183B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110285705A (en) * | 2019-07-31 | 2019-09-27 | 西安绿动透平技术有限公司 | A kind of condenser water inside pipe wall on-line auto-cleaning robot device |
| CN110314891A (en) * | 2019-07-16 | 2019-10-11 | 山鹰国际控股股份公司 | A kind of scraper automatic flushing device |
| CN112344786A (en) * | 2020-11-06 | 2021-02-09 | 南京拓耘达智慧科技有限公司 | Integrated belt cleaning device of condenser integration robot |
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| CN102401609A (en) * | 2011-11-17 | 2012-04-04 | 姬鄂豫 | Online cleaning device for heat exchange tube of condenser |
| CN105135935A (en) * | 2015-09-14 | 2015-12-09 | 郑州赛为机电设备有限公司 | Online flushing robot device for condenser |
| CN205505847U (en) * | 2016-01-28 | 2016-08-24 | 姚思聪 | Dual drive formula condenser online cleaning robot device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH10300389A (en) * | 1997-04-25 | 1998-11-13 | Toshiba Corp | Device for preventing biological fouling of heat-exchanger |
| CN102401609A (en) * | 2011-11-17 | 2012-04-04 | 姬鄂豫 | Online cleaning device for heat exchange tube of condenser |
| CN105135935A (en) * | 2015-09-14 | 2015-12-09 | 郑州赛为机电设备有限公司 | Online flushing robot device for condenser |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110314891A (en) * | 2019-07-16 | 2019-10-11 | 山鹰国际控股股份公司 | A kind of scraper automatic flushing device |
| CN110314891B (en) * | 2019-07-16 | 2024-05-07 | 山鹰国际控股股份公司 | Automatic cleaning device for scraping rod |
| CN110285705A (en) * | 2019-07-31 | 2019-09-27 | 西安绿动透平技术有限公司 | A kind of condenser water inside pipe wall on-line auto-cleaning robot device |
| CN112344786A (en) * | 2020-11-06 | 2021-02-09 | 南京拓耘达智慧科技有限公司 | Integrated belt cleaning device of condenser integration robot |
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| Publication number | Publication date |
|---|---|
| CN107894183B (en) | 2019-06-04 |
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